CN106570214A - On-line real-time measurement system and method for track line curvature based on secondary rotation angle - Google Patents
On-line real-time measurement system and method for track line curvature based on secondary rotation angle Download PDFInfo
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- CN106570214A CN106570214A CN201610889969.8A CN201610889969A CN106570214A CN 106570214 A CN106570214 A CN 106570214A CN 201610889969 A CN201610889969 A CN 201610889969A CN 106570214 A CN106570214 A CN 106570214A
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Abstract
The invention relates to an on-line real-time measurement system and method for a track line curvature based on a secondary rotation angle. The system comprises a front and rear bogie secondary rotation angle measuring unit, a speed measuring unit and a line curvature calculation unit; the curvature calculation unit calculates to obtain the line curvature kF of the position of a front bogie according to secondary rotation angle signals phi A and phi B of front and rear bogies measured by the front and rear bogie secondary rotation angle measuring unit of a railway vehicle, a vehicle real-time speed v measured by the speed measuring unit and a distance d between the front and rear bogies of the railway vehicle, and specifically as the following formula, wherein the formula is a mean value of the secondary rotation angles of the front and rear bogies, and the formula is a mean value change rate of the secondary rotation angles of the front and rear bogies. Compared with the prior art, the on-line real-time measurement system and the method for the track line curvature based on the secondary rotation angle provided by the invention can obtain the line curvature in a real-time and on-line way and has high accuracy.
Description
Technical field
The present invention relates to a kind of track circuit curvature measuring system and method, are angle of revolution based on two more particularly, to one kind
Track circuit curvature On-line sampling system system and method.
Background technology
One of the characteristics of along definitive orbit traveling being rail vehicle, the attitude angle of vehicle relative orbit center line can be with
The change of circuit and change.Vehicle body attitude angle changes and is caused by track curvature change, therefore can be by surveying
Amount vehicle body attitude angle obtains the curvature value of circuit.
Utility model patent CN202294869U discloses a kind of monitoring device of railroad track dynamic monitoring curvature, this dress
Put that number of sensors used is more, data processing is complex.After obtaining measurement data, line is obtained by the data preparation under line
The radius of curvature on road, does not possess On-line sampling system characteristic, so as to instruct the active control system using curvature value as parameter
System action.
The content of the invention
The purpose of the present invention is exactly the defect in order to overcome above-mentioned prior art to exist and provides a kind of track circuit curvature
On-line sampling system system and method.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of to be based on the two track circuit curvature On-line sampling system systems for being angle of revolution, the system includes trailing or leading bogie
Two is revolution angle measurement unit, vehicle speed measurement module and track curvature computing unit；
Described curvature estimation unit is before and after revolution angle measurement unit is measured according to rail vehicle trailing or leading bogie two
The two of bogie are angle of revolution signalWithBefore real-time speed v of vehicle and rail vehicle of vehicle speed measurement module measurement
The distance between trailing bogie d is calculated the track curvature k of forecarriage positionF, specifically：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is back for trailing or leading bogie two
Gyration Change in Mean rate.
Described rail vehicle trailing or leading bogie two is to turn to before and after revolution angle measurement unit is separately mounted to including two
Angular transducer on frame.
Described vehicle speed measurement module includes vehicle-mounted speed measuring radar.
A kind of to be based on the two track circuit curvature On-line sampling system methods for being angle of revolution, the method comprises the steps：
(1) it is angle of revolution signal to obtain the two of rail vehicle trailing or leading bogieWithRail vehicle trailing or leading bogie
The distance between d and real-time speed v of rail vehicle；
(2) the track curvature k of rail vehicle forecarriage position is obtained according to following formulaF：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is back for trailing or leading bogie two
Gyration Change in Mean rate.
The two of described trailing or leading bogie are that angle of revolution signal is passed respectively by the angle on trailing or leading bogie
Sensor is obtained.
The real-time speed of described rail vehicle is obtained by velocity radar.
Compared with prior art, the invention has the advantages that：
(1) present invention is angle of revolution and the real-time car of road vehicle by the two of real-time measure track vehicle trailing or leading bogie
Speed realizes the real-time acquisition of the track curvature of rail vehicle forecarriage position, real-time high-efficiency, so as to instruct in time with
Active control system action of the curvature value as parameter；
(2) the curvature estimation formula proposed in conventional rails traffic teaching material is： For the two of forecarriage
It is angle of revolution signal, d is the distance between trailing or leading bogie, and computational solution precision is poor, and the track curvature k of the present inventionF
Consider that trailing or leading bogie two is angle of revolution average and two is angle of revolution Change in Mean rate so that result of calculation is more nearly
Real line curvature, disclosure satisfy that rail vehicle active system to track curvature real-time, the requirement of accuracy.
Description of the drawings
Fig. 1 is the FB(flow block) of rail vehicle track curvature On-line sampling system method of the present invention；
When Fig. 2 is that rail vehicle passes through curve, car body, the structural representation of bogie relative line attitude angle；
Fig. 3 is that the track curvature curve that two kinds of rail vehicle track curvature computational methods are obtained and actual track curvature are bent
Line comparison diagram.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in detail with specific embodiment.
Embodiment
A kind of to be based on the two track circuit curvature On-line sampling system systems for being angle of revolution, the system is included before rail vehicle
Trailing bogie two is to turn round angle measurement unit, vehicle speed measurement module and track curvature computing unit, rail vehicle trailing or leading bogie
Two is that revolution angle measurement unit includes two angular transducers being separately mounted on trailing or leading bogie, and vehicle speed measurement module includes
Vehicle-mounted speed measuring radar；
Curvature estimation unit is to turn round the trailing or leading bogie that angle measurement unit is measured according to rail vehicle trailing or leading bogie two
Two be angle of revolution signalWithTurn to before and after real-time speed v of vehicle and rail vehicle of vehicle speed measurement module measurement
The distance between frame d is calculated the track curvature k of forecarriage positionF, specifically：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is back for trailing or leading bogie two
Gyration Change in Mean rate.
As shown in figure 1, a kind of two track circuit curvature On-line sampling system methods for being angle of revolution that are based on include following step
Suddenly：
Step S1：Obtain rail vehicle trailing or leading bogie two are angle of revolution signalWith, turn before and after rail vehicle
To the distance between frame d and real-time speed v of rail vehicle, wherein the two of trailing or leading bogie are that angle of revolution signal passes through respectively
Angular transducer on trailing or leading bogie is obtained, and the real-time speed of rail vehicle is obtained by velocity radar.
Step S2：The track curvature k of rail vehicle forecarriage position is obtained according to following formulaF：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is back for trailing or leading bogie two
Gyration Change in Mean rate.It is because the relative head Chinese herbaceous peony bogie of follow-up bogie has fixed space interval distance therefore actual
Using when obtain the track curvature of Chinese herbaceous peony bogie position to the end, be just easy to release subsequent vehicle bogie present position
Real time line curvature, and then instruct numerous rail vehicle active control system actions using curvature value as parameter.
When being illustrated in figure 2 rail vehicle by curve, car body, the structural representation of bogie relative line attitude angle,
1 is rail vehicle in figure, and 2 is curve track, and A, B are rail vehicle trailing or leading bogie position, and the starting point of curve track is
The zero point of coordinate system.Each accounting equation and parameter declaration are as follows：
The equation of a, curve in plane right-angle coordinate is：Y=f (x)；
B, A point coordinates (xA,yA), B point coordinates (xB,yB), equation y=f (x) is satisfied by, and the point distances of AB two are | AB |=d；
The tangent angle of c, A point tangent line is α, is apparent from tan (α)=f ' (xA)；The tangent angle of B point tangent lines is β, is apparent from tan (β)
=f ' (xB)；
The two of d, trailing bogie and car body are that angle of revolution isForecarriage is that angle of revolution is with the two of car bodyBy scheming
Show that geometrical relationship can be released：
Expression formula can be obtained by deriving：
It is angle of revolution average for trailing or leading bogie two,It is angle of revolution for trailing or leading bogie two
Degree Change in Mean rate, v is the real-time speed of rail vehicle.When rail vehicle is in easement curve section, this formula is strictly set up；Work as rail
Road vehicle in when directly delaying transition zone, slow circle transition zone, approximately set up, and meets the requirement of engineering application by this formula.
The curvature estimation formula of proposition is in conventional rails traffic teaching material： For forecarriage two are
Angle of revolution signal, d is the distance between trailing or leading bogie, and computational solution precision is poor, and the track curvature k of the present inventionFExamine
Consider trailing or leading bogie two to be angle of revolution average and two be angle of revolution Change in Mean rate so that result of calculation is more nearly very
Real track curvature.
Fig. 3 show forecarriage position track curvature, the biography that curvature On-line sampling system method of the present invention is obtained
Forecarriage position track curvature and the contrast of forecarriage present position actual curvature that system curvature estimation formula is obtained
Figure.Curve 3 is forecarriage present position actual curvature curve map in figure, and curve 4 is curvature On-line sampling system side of the present invention
The curve map of the forecarriage position track curvature that method is obtained, the front steering that curve 5 is obtained for traditional curvature estimation formula
The curve map of frame position track curvature.As seen from the figure forecarriage present position actual curvature curve 3 with the present invention
The forecarriage position track curvature curve 4 that curvature On-line sampling system method is obtained is in easement curve section, circular curve segment
It is completely superposed, in straight slow transition zone, slow circle transition zone, there is certain error, but error amount is less, can meet some railcars
Active system is to track curvature real-time, the requirement of accuracy.The forecarriage institute that traditional curvature estimation formula is obtained is in place
The curve 5 for putting track curvature is delayed relative to forecarriage present position actual curvature 4 Existential Spaces of curve, is embodied in：
Curve 4 and curve 5 only overlap in circular curve segment, there is larger mistake in straight slow transition zone, easement curve section, slow circle transition zone
Difference, and then some rail vehicle active control systems cannot be met to track curvature real-time, the requirement of accuracy.
The above-mentioned description to embodiment is that invention is understood that and used for ease of those skilled in the art.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel announcement of the invention, the improvement made without departing from scope and modification all should be the present invention's
Within protection domain.
Claims (6)
1. it is a kind of to be based on the two track circuit curvature On-line sampling system systems for being angle of revolution, it is characterised in that the system includes
Trailing or leading bogie two is revolution angle measurement unit, vehicle speed measurement module and track curvature computing unit；
Described curvature estimation unit is to turn round the steering in front and back that angle measurement unit is measured according to rail vehicle trailing or leading bogie two
The two of frame are angle of revolution signalWithTurn before and after real-time speed v of vehicle and rail vehicle of vehicle speed measurement module measurement
The track curvature k of forecarriage position is calculated to the distance between frame dF, specifically：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is angle of revolution for trailing or leading bogie two
Degree Change in Mean rate.
2. it is according to claim 1 it is a kind of be based on the two track circuit curvature On-line sampling system systems for being angle of revolution, its
It is characterised by, described rail vehicle trailing or leading bogie two is to turn to before and after revolution angle measurement unit is separately mounted to including two
Angular transducer on frame.
3. it is according to claim 1 it is a kind of be based on the two track circuit curvature On-line sampling system systems for being angle of revolution, its
It is characterised by, described vehicle speed measurement module includes vehicle-mounted speed measuring radar.
4. it is a kind of to be based on the two track circuit curvature On-line sampling system methods for being angle of revolution, it is characterised in that the method includes
Following steps：
(1) it is angle of revolution signal to obtain the two of rail vehicle trailing or leading bogieWithBetween rail vehicle trailing or leading bogie
Apart from d and real-time speed v of rail vehicle；
(2) the track curvature k of rail vehicle forecarriage position is obtained according to following formulaF：
WhereinIt is angle of revolution average for trailing or leading bogie two, It is angle of revolution for trailing or leading bogie two
Degree Change in Mean rate.
5. it is according to claim 4 it is a kind of be based on the two track circuit curvature On-line sampling system methods for being angle of revolution, its
It is characterised by, the two of described trailing or leading bogie is that angle of revolution signal is passed respectively by the angle on trailing or leading bogie
Sensor is obtained.
6. it is according to claim 4 it is a kind of be based on the two track circuit curvature On-line sampling system methods for being angle of revolution, its
It is characterised by, the real-time speed of described rail vehicle is obtained by velocity radar.
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| CN201610889969.8A CN106570214B (en) | 2016-10-12 | 2016-10-12 | Based on two be angle of revolution track circuit curvature On-line sampling system system and method |
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| CN201610889969.8A CN106570214B (en) | 2016-10-12 | 2016-10-12 | Based on two be angle of revolution track circuit curvature On-line sampling system system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111912366A (en) * | 2019-05-23 | 2020-11-10 | 中车大同电力机车有限公司 | Locomotive curve-crossing line geometric offset graphical measurement method based on stop limit |
| CN112810664A (en) * | 2021-01-28 | 2021-05-18 | 中车青岛四方机车车辆股份有限公司 | Online real-time measurement system and method for curvature radius of track line |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912366A (en) * | 2019-05-23 | 2020-11-10 | 中车大同电力机车有限公司 | Locomotive curve-crossing line geometric offset graphical measurement method based on stop limit |
| CN111912366B (en) * | 2019-05-23 | 2022-03-08 | 中车大同电力机车有限公司 | Locomotive curve-crossing line geometric offset graphical measurement method based on stop limit |
| CN112810664A (en) * | 2021-01-28 | 2021-05-18 | 中车青岛四方机车车辆股份有限公司 | Online real-time measurement system and method for curvature radius of track line |
| CN112810664B (en) * | 2021-01-28 | 2022-11-22 | 中车青岛四方机车车辆股份有限公司 | Online real-time measurement system and method for track line curvature |
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| CN106570214B (en) | 2019-07-05 |
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